What is internal math of the pointsToWorld() function?

I would like to know about the internal math of the pointsToWorld function.... I have image point, cameraParams, rotationMatrix and translationVector. how can i get world point?

Answer 1

[Santhana Raj]

PointstoWorld function does the conversion of image points to the real world representation. The real world is some times called as target. It does the reverse homography conversion of the image points.

[K M Ibrahim Khalilullah]

thanks for your answer. I have image point, cameraParams, rotationMatrix and translationVector. Would you explain please how can i get world point

[Santhana Raj]

[Ix;Iy] = R*[x;y] +[Tx;Ty];

Ix and Iy are the image x & y coordinates. R is the rotation matrix. x and y are the original target points. Tx and Ty matrix forms the translation vector.